| 基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现 |
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| 引用本文： | 李元,,王石荣,,于宁波,.基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现[J].智能系统学报,2018,13(3):445-451. |
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| 作者姓名： | 李元 王石荣 于宁波 |
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| 作者单位： | 1. 南开大学 机器人与信息自动化研究所, 天津 300353;2. 南开大学 天津市智能机器人技术重点实验室, 天津 300353 |
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| 摘 要： | 移动机器人在各种辅助任务中需具备自主定位、建图、路径规划与运动控制的能力。本文利用RGB-D信息和ORB-SLAM算法进行自主定位，结合点云数据和GMapping算法建立环境栅格地图，基于二次规划方法进行平滑可解析的路径规划，并设计非线性控制器，实现了由一个运动底盘、一个RGB-D传感器和一个运算平台组成的自主移动机器人系统。经实验验证，这一系统实现了复杂室内环境下的实时定位与建图、自主移动和障碍物规避。由此，为移动机器人的推广应用提供了一个硬件结构简单、性能良好、易扩展、经济性好、开发维护方便的解决方案。
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| 关 键 词： | 移动机器人 RGB-D SLAM GMapping 路径规划 二次规划 曲线拟合 非线性控制 |
RGB-D-based SLAM and path planning for mobile robots |
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| LI Yuan,,WANG Shirong,,YU Ningbo,.RGB-D-based SLAM and path planning for mobile robots[J].CAAL Transactions on Intelligent Systems,2018,13(3):445-451. |
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| Authors: | LI Yuan WANG Shirong YU Ningbo |
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| Affiliation: | 1. Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China;2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China |
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| Abstract: | To accomplish various tasks, mobile robots need the capabilities of autonomous localization, mapping, path planning, and motion control. In this paper, an autonomous robot system was realized using a mobile platform, an RGB-D sensor, and a computing unit. Localization was achieved using the ORB-SLAM algorithm based on RGB-D information, and the 2D grid map was built-up using the GMapping algorithm with localization and point cloud data. A smooth path was produced by point generation and curve fitting with quadratic programming. The robot motion was regulated by a nonlinear controller. The proposed system and methods were validated by experiments and the results show that the system can realize real-time localization and mapping, autonomous movement, and obstacle avoidance in a complex indoor environment. Therefore, the research provides a solution with the following merits for promotion and application of mobile robots:simple hardware structure, excellent performance, easy extension, as well as economical and convenient development and maintenance. |
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| Keywords: | mobile robot RGB-D SLAM GMapping path planning quadratic programming curve fitting nonlinear control |
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